The rolling shutter compensation is pretty cool and isn't something I would have thought of. Did you know that would be an issue from the start or notice it only after you built the rest of the system?
The thing I was most surprised by was how effective my solution was, given that it's a pretty gross approximation of reality. There are lots of much more sophisticated techniques for dealing with it, which I didn't end up needing.
One thing I would've liked to try out is using rolling-shutter-aware PnP [1], which can theoretically estimate pose and velocity simultaneously from one image, by exploiting the rolling shutter distortions.
[1] https://www-sop.inria.fr/members/Philippe.Martinet/publis/20...